Less stable loiter hold after pulling G in turns. - why?

ArduCopter Copter 3.1
1

Pixhawk, Hexa 3.1.2:

It’s well tuned and flies perfectly fine in Loiter and auto modes.
If I fly hard in stabilize or drift mode, after some high speed/high g turns, the Loiter is much worse, then gradually seems to get better.

What exactly is causing this behavior, ? What do I look for in logs ?

2

[quote=“Andre-K”]Pixhawk, Hexa 3.1.2:

It’s well tuned and flies perfectly fine in Loiter and auto modes.
If I fly hard in stabilize or drift mode, after some high speed/high g turns, the Loiter is much worse, then gradually seems to get better.

What exactly is causing this behavior, ? What do I look for in logs ?[/quote]
This is probably the INAV. EKF will improve this behavior drastically in the next release for PIXHAWK and PX4 users.